Remote control underwater observation vehicle

ABSTRACT

The submarine vehicle is connected to a surface operating station by means of a control tether. The control tether contains conduits supplying hydraulic fluid under pressure as well as electrical power to the submarine vehicle. The submarine vehicle is controlled in depth by means of a buoyancy chamber comprising two telescoping chambers which are displaced with respect to each other by means of an internal motor means. A support system attached to the buoyancy chamber provides mounting for a camera to view the underwater location surrounding the submarine vehicle. A combination navigation instrument is mounted on the submarine vehicle and cooperates with the camera to provide an indication of heading and inclination of the vehicle as well as a number of turns the vehicle has made since its launch.

United States Patent [191 Fugitt et al.

[ Dec. 18, 1973 REMOTE CONTROL UNDERWATER OBSERVATION VEHICLE [73]Assignee: The United States of America as represented by the Secretaryof the Navy, Washington, DC.

[22] Filed: Aug. 14, 1972 [21] Appl. No.: 280,703

[52] US. Cl l78/6.8, 95/11 W, 178/D1G. 1,

178/D1G. 38, 352/242, 352/243 [51] Int. Cl. G03b 17/08, H04n 7/18 [58]Field of Search 178/6, 8, DIG. l,

l78/D1G. 20, DIG. 38; 95/11 W; 294/66 A; 352/242, 243

Robinson 178/68 Adams 178/D1G. I Nosker 178/D1G. 20

Primary Examiner-Howard W. Britton ArtorneyRichard S. Sciascia et a1.

[5 7] ABSTRACT The submarine vehicle is connected to a surface operatingstation by means of a control tether. The control tether containsconduits supplying hydraulic fluid under pressure as well as electricalpower to the submarine vehicle. The submarine vehicle is controlled indepth by means of a buoyancy chamber comprising two telescoping chamberswhich are displaced with respect to each other by means of an internalmotor means. A support system attached to the buoyancy chamber providesmounting for a camera to view the underwater location surrounding thesubmarine vehicle. A combination navigation instrument is mounted on thesubmarine vehicle and cooperates with the camera to provide anindication of heading and inclination of the vehicle as well as a numberof turns the vehicle has made since its launch.

11 Claims, 7 Drawing Figures P I gnsm 8l973 Sum 3 d 3 3,780,220

REMOTE CONTROL UNDERWATER OBSERVATION VEHICLE STATEMENT OF GOVERNMENTINTEREST Accordingly, it is an object of the invention to pro- Theinvention described herein may be manufac- 5 vide an improved submarinevehicle.

tured and used by or for the Government of the United States of Americafor governmental purposes without the payment of any royalties thereonor therefor.

1. Field of the Invention This invention pertains to the fields of navalarchitecture and marine engineering. Moe particularly, the inventionpertains to the field of submersible vehicles. In greater particularity,the invention pertains to a tethered submarine vehicle. In still greaterparticularity, but without limitation thereto, this invention pertainsto a submarine vehicle useful for providing visual indication to asurface operator of submerged objects.

2. Description of the Prior Art As man masters his ocean environments,the ability to examine objects submerged beneath the sea becomesincreasingly important. For example, it is frequently desirable for aship's operational personnel to visually inspect the exterior of thehull of the ship below the water line. This inspection may be useful todetermine the condition of the outer surface of the vessel as well as tolocate and help analyze mechanical defects in the ships operationalgear. In the past, the only methods available to facilitate such visualinspection has been to either remove the ship from the water, a costlyand time-consuming operation, or to employ divers to go beneath thesurface of the water and visually explore the surface of the ship. Thelatter operation has been preferred in recent times due to the increasedavailability of lightweight, self-contained, underwater breathingapparatus. However, such diving operations require moderatetemperatures, relatively calm water, and conditions affording goodvisibility.

There are many times when these ideal conditions permitting diverinspection to be performed do not occur for several days. This causesundue delays in the operation of the ship and adds greatly to theexpense of such operation. Therefore, it would be highly desirable if alow-cost, compact, easily-operated, and effective substitute for thediver could be found.

It has been frequently suggested that small submersible vehicles be usedto replace the diver in such circumstances. However, heretofore theavailability of such vehicles has been limited. Vehicles of the priorart suitable for such reconnaissance have employed complex remotecontrol telemetry links as well as costly and complex propulsionsystems.

SUMMARY OF THE INVENTION The invention comprises a remotely controlledsubmarine vehicle which employs a buoyancy chamber which is motor drivento change its physical dimensions and hence the buoyancy of the vehicle.The submarine vehicle is connectedto the surface and the remote operatorby means of a tether which transmits electrical as well ashydraulic'power to the submarine vehicle. Support means directly attachto the buoyancy chamber support hydraulically driven propulsion unitsand a television camera beneath the buoyancy chamber. A compositenavigation instrument indicating bearing, inclination, and number ofvehicle turns is mounted so as to be within the view of the televisioncamera.

Another object of the invention is to provide an improved submarinevehicle having both remote control and remote power facilities.

A further object of this invention is to provide a remotely controlledand powered submarine vehicle operating from a tether control line.

Another object of the present invention is to provide a submarinevehicle having a buoyancy control system comprising a variable volumechamber.

A still further object of the present invention is to provide a remotelypowered submarine vehicle.

A still further object of the present invention is to provide asubmarine vehicle employing hydraulic propulsion units which employoperating fluid under pressure supplied from the surface by means ofhollow conduits.

Another object of the present invention is to provide a remotelycontrolled powered submarine vehicle carrying a camera for viewingobjects beneath the surface of the water.

A still further object of the present invention is to provide a remotelycontrolled tethered submarine vehicle having a closed circuit televisioncamera for inspection of submerged objects.

Another object of the present invention is to provide a remotelycontrolled submarine vehicle having a television camera for viewing bothsubmerged objects and navigational instruments carried by the submarinevehicle.

A still further object of the present invention is to provide a remotelycontrolled and powered submarine vehicle having a single compositenavigational instrument.

A further object of the present invention is to provide a remotelycontrolled and powered submarine vehicle having instrumentation toprovide the remote operator with an indication of the number of changesin bearing made by the submarine vehicle.

Yet another object of the present invention is to provide a remotelycontrolled submarine vehicle having closed circuit television facilitiesand a composite instrument indicating the heading of the submarinevehicle, its inclination from the horizontal, and the number of turnsmade by the vehicle.

These and other objects of the invention will become more readilyapparent from the ensuing specification when taken with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows the device of theinvention being used to inspect the hull of a surface vessel;

FIG. 2 is a side elevational drawing of the submarine vehicle accordingto the invention;

FIG. 3 is a front elevational view of the submarine vehicle according tothe invention;

FIG. 4 is a schematic representation, shown in section, of the buoyancychamber used by the submarine vehicle according to the invention;

FIG. 5 is a perspective view showing the navigation instrument carriedby the submarine vehicle according to the invention;

FIG. 6 shows a representative mounting arrangement of the instrumentshown in FIG. and

FIG. 7 shows the view of the navigational instrument seen by theoperator of the vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring to FIG. 1, submarinevehicle, indicated generally at 11, is shown connected, via a tetherline 12, to a suitable surface operating station, indicated generally at13. As shown operating station 13 is configured to provide optimumoperational convenience for an operator 14. That is, a visual readoutsystem 15.

permits operator 14 to control submarine vehicle 11 and inspectsubmerged objects in the vicinity thereof and may be, for example, aclosed circuit television receiver. A suitable electrical power supply16, which, for purposes of explanation, may be considered to compriseelectrical batteries, is mounted below visual readout 15. Power supply16 rests upon a suitable hydraulic power supply 17. Of course, theparticular construction of hydraulic power supply 17 will depend, inconsiderable degree, on the specific hydraulic power requirements ofsubmarine vehicle 11. However, for purposes of completeness, aconventional electric motor-driven pump operating from a hydraulic fluidreservoir may be used. The elctric motor may, of course, be suppliedfrom electrical power supply 16.

As shown, submarine vehicle 11 is used to inspect the hull of ship 18,the operational platform, but other objects could also be inspected, ifdesired. Likewise, in the illustrated embodiment operator 14 and controlstation 13 are on the open deck of ship 18, however, they may bepositioned in enclosed compartments within the ship 18, if desired.

As previously pointed out, hull inspection is a primary function of thesubmarine vehicle according to the invention. However, other marineapplications may utilize the capabilities of the vehicle as well. Forexample, submarine vehicle 11 may be used to inspect a target located bysonar in order to ascertain the precise nature of the target. Thisparticular function is of particular utility in mine and submarinecountermeasures and frees diver personnel from this hazardous duty.However, as should be obvious, still other applications will suggestthemselves and submarine vehicle 11 doubtlessly will be used to replaceswimmer-divers in many applications.

Referring to FIGS. 2 and 3, the constructional details of submarinevehicle 11 will be described. As shown, a buoyancy chamber 19 comprisesa major portion of submarine vehicle 11. Unlike prior art submarinevehicles, which have buoyancy altering devices within the confines of arigid hull, submarine vehicle 11 has buoyancy chamber 19 as a majorexternal assembly. This simplicity of construction affords one of themajor advantages of the device of the invention, light weight. Theconstructional details of buoyancy chamber 19 will be described ingreater detail presently.

As shown, tether 12 is joined to submarine vehicle 11 by a suitabletether mount 21. As previously noted, tether 12 is composed ofelectrical conductors as well as hydraulic fluid conduits. Thisassembly, together with appropriate tensioning line, is bound into aunitary assembly by means of suitable cable clamps 22. In addition toclamps 22, tether line 12 may be encased in a suitable sleeve wheredeemed desirable. However, satisfactory results have been obtained withthe construction illustrated where the various conductors and lines aresimply bound into a unitary bundle by the clamps 22.

Flotation units, shown at 23, are also attached to tether cable 12 atpoints occupied by clamps 22. Flotation units 23 serve to keep tetherline 12 neutrally buoyant and provide stabilization thereof as vehicle11 moves about beneath the surface of the water. Clamps 24, similar toclamps 22, attach tether line 12 to tether support 21. Tether support 21is constructed with a saddle portion 25 which conforms to buoyancychamber 19.

A similar saddle portion 27 mounts on the lower side of buoyancy chamber19 opposite saddle 25 and is bound, along with saddle 25, to buoyancychamber 19 by means of suitable circular clamps 28. A single-tube,vertically depending support 26 extends downwardly from saddle portion27 and provides a main support attachment for the other component partsof submarine vehicle 11.

As may be best seen in FIG. 3, tubular motor supports 29 extendoutwardly from vertical tube 26 and, at their distal ends supportsuitable motors 31. As previously noted, motors 31 are of a hydraulicpiston type, although turbine types may be used, and are supplied withhydraulic fluid via hydraulic conduits which comprise a portion oftether line 12. A small marine propulsion screw 32 is attached to eachmotor 31 and converts the rotary motion into a propulsive force.

For purposes of illustration clarity, the connections between tetherline 12 and hydraulic motor 31 are omitted. Likewise, other electricaland hydraulic connections between tether line 12 and other componentsare omitted for similar reasons.

At the lower end of vertical tube 26, a horizontal instrument supporttube 33 extends beneath buoyancy chamber 19. At the aft end ofinstrument support 33, a suitable light source 34 is mounted. Lightsource 34 provides an illuminating beam which is directed in a forwarddirecting by means of a known light direction optical unit 35. It shouldbe noted, that light source 34 and light director 35 are conventional,low-power, underwater illumination optics and may be of any suitabletype.

A conventional underwater television camera 36 is mounted at the forwardend of instrument support 23 and is connected to the surface by means ofelectrical conductors contained within tether line 12. A variety oflightweight television cameras suitable for underwater use are known inthe art and choice among them is considered within the purview of thoseversed in the art. However, for purposes of completeness, it should benoted that the camera manufactured by Hydro Products under thedesignation TC l25 has proven satisfactory.

Because submarine vehicle 11 is generally operated from other vehicles,such as surface ship 11 or rotary wing aircraft, it is desirable to havenavigational instrumentation contained on submarine vehicle 11 toindicate to operator 14 the heading of the vehicle. In the presentinvention, this is accomplished by means of a navigational instrument 37which is mounted to be within the field of view of television camera 36.This arrangement avoids separate instrumentation connections to controlconsole 13. In the illustrated embodiment, navigation instrument 37 issupported by an instrument support 38. As shown, support 38 is attacheddirectly to television camera 36 by means of encircling clamp 39. Ofcourse, other mounting arrangements may be employed if desired. Forexample, support 38 may be joined to support 33 rather than totelevision camera 36. However, the illustrated arrangement offers theadvantage of simplicity of adjustment of television camera 36. That is,once navigation instrument 37 has been positioned within the field ofview of camera 36 its relative position thereto need not be changed foral teration of viewing angle of television camera 36.

Referring now to FIG. 4, the constructional details of buoyancy chamber19 will be described. As shown, buoyancy chamber 19 comprises twocylindrical members 41 and 42 each closed on one end. The cylinders aredimensioned such that outer cylinder 41 telescopically receives the openend of inner cylinder 42. As may be readily visualized, the twocylinders, thus interfitted, create an enclosed chamber 43 the volume ofwhich is dependent upon the relative position of cylinders 41 and 42.

Enclosed chamber 43 is rendered gas tight by a synthetic rubber seal 44which is carried by inner cylinder 42 in a position to engage the innersurface of outer cylinder 41. Of course, the particular seal useddepends somewhat on the size of the cylinders and pressure involved inthe operation of submarine vehicle 11. However, for moderate depths theaforedescribed synthetic rubber O-ring seal has proven satisfactory indevelopmental models of the invention.

In order to change the buoyancy provided by buoyancy chamber 19 innercylinder 42 is displaced relative to outer cylinder 41 such as to alterthe volume of enclosed chamber 43. This movement is accomplished bymeans of suitable motor drive connecting the two cylinders. Indevelopmental models of the invention, a linear fluid motor has provensatisfactory. As shown, this linear motor comprises a motor cylinder 45which, if desired, may be made integral with the closed end of outercylinder 41. Inner cylinder 42 is connected to this motor means by asuitable connecting rod 46 which, in turn, is attached to a piston 47which reciprocates in motor cylinder 45.

If desired, a separate hydraulic motor may be employed to actuate thecylinders. In such a system the motor would be connected to the innersurface of the closed end of each cylinder by a push rod arrangement notunlike the illustrated connecting rod 46. In either case, the operationof the invention is the same.

As well understood, the relative reciprocation between cylinders 41 and42 is effected by the admission of hydraulic fluid under pressure toeither side of piston 47 by means of suitable conduits 48 and 49.Conduits 48 and 49 are attached, via tether line 12, to the surfacehydraulic power supply 17.

A linear hydraulic motor of the type illustrated has the advantage inthe present invention of providing a lock for inner cylinder 42 withrespect to outer cylinder 41 in the adjusted position. This lockingaction may be effected by closing both hydraulic conduits 48 and 49.When it is desired to move piston 47, valving arrangement in the surfacecontrol console is positioned such as to admit more fluid to one side ofpiston 47 while permitting the flow of fluid from the other side ofpiston 47 from chamber 45. It will be recognized that such hydrauliccontrol systems are well known in the control arts.

A suitable gas supply 51 is connected to enclosed chamber 43 by means ofconduit 52 and a pressure actuated valve 53. In this fashion, the gassupply within enclosed chamber 43 may be maintained at a desiredpressure such as to minimize leakage at normal operating depths. Gassupply 51 is shown mounted on the closed end of cylinder 42 by means ofa suitable mount 54. Of course, if desired, gas source 51 could bemounted upon outer cylinder 41 in a similar fashion.

In order to prevent the corrosive action of the ambient seawater fromweakening seal 44, an expandable cover 55 is fitted to outer cylinder 41so as to enclose the telescoping end of inner cylinder 42. The expansionof cover 55 is made possible by means of a bellows arrangement 56. Ifdesired, other expansion devices may be incorporated in cover 55 toaccommodate the excursion of inner cylinder 42 during buoyancyadjustments. As shown, cover 55 is secured to outer cylinder 41 by meansof suitable mounting arrangement such as a clamp 57. The enclosedchamber 58 provided by cover 55 may be filled with oil or other suitablematerial to preserve and prolong the life of seal 44.

Valve 53 is designed to pressurize chamber 43 at the value correspondingto the operational depth of submarine vehicle 11. To prevent a pressurebuildup within cylinder 43 from harming seals 44, a provision is made tovent some of the gas contained therein during ascent of submarinevehicle 11. This venting is accomplished by means of a valve 59 and avent conduit 61. Valve 59 may be, as in the preferred embodiment,pressure actuated such as to vent the gas at a predetermined depth. Indevelopmental models, this depth has been chosen to be 50 feet andoperation of the valve at that pressure setting has been quitesatisfactory. Of course, other actuation of valve 59 might beaccomplished by means of suitable electrical solenoids or other knowncontrol devices.

In order to prevent mechanical damage from occurring to cover 55, valve59, or other external fittings, a suitable protective cover may surroundthe operational mechanism of buoyancy chamber 19. Such a cover isindicated at 62 and may comprise, for example, a suitable glass-fibercylinder or lightweight metal cylinder.

As previously noted, it is highly desirable that the submarine vehicle11 include a navigational instrument such that operator 14 may determinethe bearing and position of submarine vehicle 11. Because submarinevehicle 11 operates from a tether, it is also highly desirable to knowthe number of complete turns submarine vehicle 11 has made with respectto its initial launch position. As may be readily understood, this is toprevent tether line 12, which is a relatively complex line containingboth electrical and hydraulic conduits, from becoming too twisted topermit easy reeling of the tether back aboard surface vessel 18.

Referring to FIG. 5, a navigational instrument having the desiredproperties will now be described. The instrument is housed in atransparent cover including a cylindrical portion 63 and a planar topportion 64 and a hemispherical bottom portion 65. As shown, bottomportion 65 has a rhumb line thereon to indicate the relative bearing ofsubmarine 11. The housing is positioned over an inclined reflector 66.The reflex viewing is also an advantage in the coordination of controlaction and vehicle movement.

A threaded shaft 67 is attached to cover 64 and extends downwardly inthe transparent compartment when top 64 is placed on cylindrical portion63. A compass card 68 is threadably mounted on threaded shaft 67 andmoves up and down on shaft 67 in response to angular positioning by theearths magnetic field. The indicia carried on compass card 68 isreversed, as seen from below, to provide normal viewing in reflector 66,as will be readily understood by those familiar with mirror optics.

The movement of compass card 68 along shaft 67 is facilitated by fillingthe transparent compartment comprising the housing, i.e., cylindricalportion 63 and hemispherical portion 65, with a transparent fluid inwhich compass card 68 is neutrally buoyant. A variety of transparentoils are available for this purpose and compass card 68 may beconstructed such that its speciflc gravity is the same as the fluidused.

In addition to the fluid which provides neutral buoyancy for compasscard 68, a fluid droplet 69 of a nonmissible, opaque material, such asmercury, is placed in the bottom of hemispherical portion 65.

The position of compass card 68 along shaft 67 is determined by thenumber of rotations of compass card 68, that is, the number of completeturns of submarine vehicle 11. This excursion is read by the edgealignment of compass card 68, which may be opaquely colored, with ascale 71 which is conveniently supported from top portion 64. In somecases it may be desirable to place the indicia of scale 71 directly onthreaded shaft 67. Likewise, the position of droplet 69 on thehemispherical bottom portion 65 may be indicated by suitable indicia 72inscribed thereon. Of course, the position of droplet is determined bythe inclination of submarine vehicle 11 to the horizontal.

In many cases, the exposed construction shown in FIG. is unsuitablebecause of the direct contact with the salt water and the arduousenvironment in which submarine vehicle 11 operates. For this reason, ahousing to enclose the various elements comprising the navigationalinstrument is sometimes desired.

Referring to FIG. 6, the sectional view through such a housing is shown.A suitable watertight pyx or binnacle 73 has a lens 74 mounted in onewall thereof. Lens 74 permits camera 36 to remain focused at a desiredworking distance and still permit sharp focus for the navigationalinstrument. Light for viewing the navigational instrument is provided bymeans of the suitable light source, such as incandescent lamp 75, whichis placed above transparent top portion 64. In order to provide a moreuniform illumination, a suitable defusing element 76 may be placedbetween lamp 75 and the navigational instrument, as shown. Power tooperate light 75 may be provided from the surface via tether line 12 or,alternatively, by internal power supply within binnacle 73, such asbatteries 77.

The precise optical properties of lens 74 will vary somewhat independence on the particular camera 36 and the optics employed thereby.However, the optical axis 78 of lens 74 is positioned so as to interceptthe median between scale 67 and reflector 66. In this fashion, bothscale 71 and the reflected image of the compass card in reflector 66 arewithin the field of view of lens 74.

Referring to FIG. 7, the view afforded operator 14 of instrument 37 isillustrated. As shown, the heading of submarine vehicle 11 is indicatedby the position of the arrow on compass card 68 which cooperates withrhumb line 70, which may be, for example, on top portion 64 instead ofbottom portion 65. The position of droplet 69 on hemispherical bottomportion 65 indicates the direction and angle of tilt of submarinevehicle 11. A visual representation of this tilt is made possible byrings 72 which are spaced about hemispherical bottom portion 65. Also,the number of revolutions of submarine vehicle has made since launch andthe direction of the revolutions may be observed by scale 71 incooperation with the edge of compass card 68 as previously described.

Although the foregoing description is sufficient to enable a personskilled in the naval architecture and marine engineering arts to makethe invention, the invention will be better understood with reference tothe preferred mode of operation.

PREFERRED MODE OF OPERATION Referring to FIG. 1, operator 14 placessubmarine vehicle 11 in the water and operates the hydraulic control toadjust the volume of enclosed chamber 43 to regulate the buoyancy ofsubmarine vehicle 1 1. As submarine vehicle 1 1 descends to the desireddepth, operator 14 pays out tether line 12 to provide power andinstrumentation connection between submarine vehicle 11 and theoperational console.

As shown in FIG. 1, submarine vehicle 1 1 is being operated from thedeck of a larger surface ship so as to inspect the hull thereof. Itshould be recognized, however, that other applications for submarinevehicle 11 are possible as well as other operation platforms. That is,submarine vehicle 11 may be operated from very small surface craft ofthe open boat and outboard propelled type so as to inspect the floor ofa body of water or docks as well as larger surface vessels. Likewise,submarine vehicle 11 may be operated from a rotary wing aircraft or afixed shore installation as well as from surface vessels.

Submarine vehicle 11 is propelled through the water and steered incourse by means of hydraulic control to motors 31. The view fromtelevision camera 36 which is transmitted to the surface visual readout15 provides operator 14 with navigational information to permit him toguide submarine vehicle 11 to visually inspect a desired object.

Because of the lightweight and relatively small size of the device ofthe invention, it may be operated in relatively heavy seas and fromsmall surface craft thus providing visual inspection of underwaterobjects in conditions which do not permit the actual deployment ofdiving personnel. In addition, the operation of the device of theinvention in the foregoing manner permits command personnel to obtain aheretofore unavailable visual contact with objects beneath the surfaceof the water requiring their attention.

Upon completion of the assigned observational tasks, submarine vehicle11 is propelled back to the surface by control of buoyancy chamber 19and propulsion motors 31. Recovery from the water to the surface of theoperating vehicle is made by the conventional hoisting apparatus. Suchapparatus is commonly employed by vehicles of the type used as commandplatforms for submarine vehicle 11. When operating from a small, openboat, submarine vehicle 11 may be manually gripped and lifted from thewater by operator 14 since its assembled weight is approximately 50pounds.

When submarine vehicle 11 is removed from the water, it is washed withfresh water to remove any salt deposits and otherwise made ready forsubsequent launchings. During this preparation, compass card 68 isrestored to its midposition on threaded shaft 67. This may beaccomplished by rotating shaft 67 or moving card 68 by means of anexternal magnetic influence, such as, for example, a permanent magnet.

The foregoing description taken together with the appended claimsconstitutes a disclosure such as to en able persons skilled in themarine engineering and naval architecture arts and having the benefitsof the teachings contained herein to make and use the invention.Further, the structure herein described meets the objects of invention,and generally constitutes a meritorious advance in the art unobvious tosuch a skilled worker not having the benefit of the teachings containedherein.

Obviously, many modifications and variations of the present inventionare possible in the light of the above teachings, for example, electricmotor means may be used in place of the aforedescribed hydraulic motors,and it is therefore understood that within the scope of the disclosedinventive concept, the invention may be practiced otherwise thanspecifically described.

What is claimed is:

1. A remotely powered and controlled submarine vehicle comprising:

variable volume means for altering the buoyancy of the submarinevehicle;

support means attached to the varying buoyancy means and extendingdownwardly therefrom;

hydraulic motor means attached to said support means for providing arotary motion;

means attached to said hydraulic motor means for propelling thesubmarine vehicle through a body of water in response to rotary motionfurnished by the motor means;

instrument means effectively attached to said support means forproviding navigational information useful in the remote control of thesubmarine vehicle; camera means mounted on the support means for viewingan area about the submarine vehicle and the instrument means; and

control conduit means attached to the submarine vehicle and connected tothe surface for supplying operational fluid under pressure andelectrical energy to the variable volume buoyancy means, the motormeans, and the camera means.

2. A remotely powered and controlled submarine vehicle according toclaim 1 in which the support means comprises an open framework oftubular members.

3. A remotely powered and controlled submarine vehicle comprising:

means for varying the buoyancy of the submarine vehicle including;

two cylindrically chambers telescopically fit together for varying theenclosed volume as the two chambers are moved relative to one another,

operator motor means effectively attached to one cylindrical chamber andfixedly attached to the other cylindrical chamber for moving the twochambers with respect to one another,

a source of compressed gas mounted on one of the cylindrical chambers tosupply gas to said enclosed volume, and

valve means connected between the source of compressed gas and theenclosed volume for providing a passage for gas from the source ofcompressed gas for regulating the gas pressure therein,

support means attached to the varying buoyancy means and extendingdownwardly therefrom; hydraulic motor means attached to said supportmeans for providing rotary motion;

means attached to said hydraulic motor means for propelling thesubmarine vehicle through a body of water in response to the rotarymotion furnished by the motor means; instrument means effectivelyattached to said support means for providing navigational informationuseful in the remote control of the submarine vehicle;

camera means mounted on the support means for viewing an area about thesubmarine vehicle and the instrument means; and control conduit meansattached to the submarine vehicle and connected to the surface forsupplying fluid pressure and electrical energy to the varying buoyancymeans, the motor means, and the camera means. 4. A remotely powered andcontrolled submarine vehicle according to claim 3 wherein the varyingbuoyancy means further includes:

seal means annularly disposed about the outer edge of the smaller of thetwo cylindrical chambers for providing a gas tight seal between the twochambers; and

expansible enclosure means attached to the outer surface of the largerdiameter cylindrical chamber and extending over the smaller cylindricalchamber to be movable therewith for isolating the sliding surfaces ofthe two cylindrical chambers and the seal from the ambient sea water.

5. A remotely powered and controlled submarine vehicle according toclaim 3 wherein the operator motor attached to the cylindrical chambersincludes a double acting fluid motor.

6. A remotely powered and controlled submarine vehicle according toclaim 5 wherein the varying buoyancy means further includes pressureactuated valve means mounted on one of the cylindrical chambers andcommunicating between the enclosed volume and the ambient environmentfor bleeding off excess gas as the submarine vehicle ascends through thewater toward the surface.

7. A remotely powered and controlled submarine vehicle comprising:

means for varying the buoyancy of the submarine vehicle; support meansattached to the varying buoyancy means and extending downwardlytherefrom; hydraulic motor means attached to said support means forproviding a rotary motion; means attached to said hydraulic motor meansfor propelling the submarine vehicle through a body of water in responseto the rotary motion furnished by the water means;

combination instrument means effectively attached to said support meansfor providing an indication of heading, inclination from the horizontal,and the number and direction of complete turns that the vehicle has madesubsequent to its launch;

' camera means mounted on the support means for viewing an area aboutthe submarine vehicle and the instrument means; and

control conduit means attached to the submarine vehicle and connected tothe surface for supplying fluid pressure and electrical energy to thevarying buoyancy means, the motor means, and the camera means.

8. A remotely powered and controlled submarine vehicle according toclaim 7 wherein the combination instrument includes:

transparent container means having a cylindrical top portion and ahemispherical bottom portion,

cover means closing the transparent container means and having athreaded shaft depending axially and downwardly therefrom to extend intothe transparent container means,

a transparent compass card threadably mounted on the threaded shaft,

a fluid droplet within the transparent container and resting on thehemispherical bottom portion such that its position thereon is dependentupon the angular orientation of the transparent container; and

graduation markings on the hemispherical bottom portion of a transparentcontainer means cooperating with the droplet to indicate the angularorientation.

9. A remotely powered and controlled submarine vehicle according toclaim 8 wherein a combination instrument further includes revolutioncounter means attached to said cover and cooperatively disposed withrespect to said compass card so as to indicate the number of revolutionsof the card on the threaded shaft.

10. A remotely powered and controlled submarine vehicle according toclaim 9 wherein the combination instrument further includes a mirrormeans disposed beneath the transparent container means and positionedwith respect thereto so as to permit the viewing of the compass card andfluid droplet from a position alongside the transparent container meansso as to thereby present a view of the compass card, the revolutioncounter means and the fluid droplet.

11. A remotely powered and controlled submarine vehicle according toclaim 10 wherein said combination instrument further includes a lightsource positioned above the transparent cover for illumination of thecompass card, revolution counter, and fluid droplet; and

lens means cooperatively positioned with respect to the transparentcontainer means so as to provide the aforesaid camera means with afocussed image of the combination instrument.

1. A remotely powered and controlled submarine vehicle comprising:variable volume means for altering the buoyancy of the submarinevehicle; support means attached to the varying buoyancy means andextending downwardly therefrom; hydraulic motor means attached to saidsupport means for providing a rotary motion; means attached to saidhydraulic motor means for propelling the submarine vehicle through abody of water in response to rotary motion furnished by the motor means;instrument means effectively attached to said support means forproviding navigational information useful in the remote control of thesubmarine vehicle; camera means mounted on the support means for viewingan area about the submarine vehicle and the instrument means; andcontrol conduit means attached to the submarine vehicle and connected tothe surface for supplying operational fluid under pressure andelectrical energy to the variable volume buoyancy means, the motormeans, and the camera means.
 2. A remotely powered and controlledsubmarine vehicle according to claim 1 in which the support meanscomprises an open framework of tubular members.
 3. A remotely poweredand controlled submarine vehicle comprising: means for varying thebuoyancy of the submarine vehicle including; two cylindrically chamberstelescopically fit together for varying the enclosed volume as the twochambers are moved relative to one another, operator motor meanseffectively attached to one cylindrical chamber and fixedly attached tothe other cylindrical chamber for moving the two chambers with respectto one another, a source of compressed gas mounted on one of thecylindrical chambers to supply gas to said enclosed volume, and valvemeans connected between the source of compressed gas and the enclosedvolume for providing a passage for gas from the source of compressed gasfor regulating the gas pressure therein, support means attached to thevarying buoyancy means and extending downwardly therefrom; hydraulicmotor means attached to said support means for providing rotary motion;means attached to said hydraulic motor means for propelling thesubmarine vehicle through a body of water in response to the rotarymotion furnished by the motor means; instrument means effectivelyattached to said support means for providing navigational informationuseful in the remote control of the submarine vehicle; camera Meansmounted on the support means for viewing an area about the submarinevehicle and the instrument means; and control conduit means attached tothe submarine vehicle and connected to the surface for supplying fluidpressure and electrical energy to the varying buoyancy means, the motormeans, and the camera means.
 4. A remotely powered and controlledsubmarine vehicle according to claim 3 wherein the varying buoyancymeans further includes: seal means annularly disposed about the outeredge of the smaller of the two cylindrical chambers for providing a gastight seal between the two chambers; and expansible enclosure meansattached to the outer surface of the larger diameter cylindrical chamberand extending over the smaller cylindrical chamber to be movabletherewith for isolating the sliding surfaces of the two cylindricalchambers and the seal from the ambient sea water.
 5. A remotely poweredand controlled submarine vehicle according to claim 3 wherein theoperator motor attached to the cylindrical chambers includes a doubleacting fluid motor.
 6. A remotely powered and controlled submarinevehicle according to claim 5 wherein the varying buoyancy means furtherincludes pressure actuated valve means mounted on one of the cylindricalchambers and communicating between the enclosed volume and the ambientenvironment for bleeding off excess gas as the submarine vehicle ascendsthrough the water toward the surface.
 7. A remotely powered andcontrolled submarine vehicle comprising: means for varying the buoyancyof the submarine vehicle; support means attached to the varying buoyancymeans and extending downwardly therefrom; hydraulic motor means attachedto said support means for providing a rotary motion; means attached tosaid hydraulic motor means for propelling the submarine vehicle througha body of water in response to the rotary motion furnished by the watermeans; combination instrument means effectively attached to said supportmeans for providing an indication of heading, inclination from thehorizontal, and the number and direction of complete turns that thevehicle has made subsequent to its launch; camera means mounted on thesupport means for viewing an area about the submarine vehicle and theinstrument means; and control conduit means attached to the submarinevehicle and connected to the surface for supplying fluid pressure andelectrical energy to the varying buoyancy means, the motor means, andthe camera means.
 8. A remotely powered and controlled submarine vehicleaccording to claim 7 wherein the combination instrument includes:transparent container means having a cylindrical top portion and ahemispherical bottom portion, cover means closing the transparentcontainer means and having a threaded shaft depending axially anddownwardly therefrom to extend into the transparent container means, atransparent compass card threadably mounted on the threaded shaft, afluid droplet within the transparent container and resting on thehemispherical bottom portion such that its position thereon is dependentupon the angular orientation of the transparent container; andgraduation markings on the hemispherical bottom portion of a transparentcontainer means cooperating with the droplet to indicate the angularorientation.
 9. A remotely powered and controlled submarine vehicleaccording to claim 8 wherein a combination instrument further includesrevolution counter means attached to said cover and cooperativelydisposed with respect to said compass card so as to indicate the numberof revolutions of the card on the threaded shaft.
 10. A remotely poweredand controlled submarine vehicle according to claim 9 wherein thecombination instrument further includes a mirror means disposed beneaththe transparent container means and positioned with respect thereto soas to permit the viewing of the compass card and fluid droplet from aposition alongside the transparent containEr means so as to therebypresent a view of the compass card, the revolution counter means and thefluid droplet.
 11. A remotely powered and controlled submarine vehicleaccording to claim 10 wherein said combination instrument furtherincludes a light source positioned above the transparent cover forillumination of the compass card, revolution counter, and fluid droplet;and lens means cooperatively positioned with respect to the transparentcontainer means so as to provide the aforesaid camera means with afocussed image of the combination instrument.